I have Googled numerous Millard family trees, and not found one shred of evidence that Lucretia Millard was related to Joshua. I don't find any indication he was in Duchess Cnty NY. He was born in Massachusetts and died in Pennsylvania. The only "evidence" came from a woman who may well have been trying to prove a relationship with President Millard Fillmore.

Here is an interesting speculation, but again, no proof:
Robert and Hannah (Eddy) Millard had a daughter Lucretia, born 8 September 1728. Several genealogies on the Internet list this Lucretia as the wife of Amos Woodin, with essentially the same children as we have. However, the birth dates we have for Lucretia's children, from 1777 to 1795, are clearly too late for a woman born in 1728. An article by Ruth Kline Lee entitled "Descendants of Robert Millard 1702-1784, of Rehoboth, Ma and Pawling, NY" published in the Detroit Society for Genealogical Research Magazine says:
Lucretia, b. 8 Sept 1728. This Lucretia Millard has frequently been "married" to Amos Woodin. But Woodin's wife Lucretia nee' Millard, who d. 19 dec 1859, bur. Beekman Cemetery, and who had her first child (of six) in 1777, was obviously not born in 1728. She was probably a niece of this original Lucretia Millard, but her father is thus far unidentified.
We currently list our Lucretia's father as Joshua Millard, based on information in the book Family History from Edward Richards, the Puritan, Through Mary Kathryn Richards Hurt and Family, With Allied Families of Amos Woodin and Robert Torrens by Mary Lee Hurt. Robert and Hannah (Eddy) Millard also had a son named Joshua, born 3 March 1729/30, in addition to Lucretia born 8 September 1728. I suspect that this Joshua is our Lucretia's father, but haven't been able to find any documentation of that. If true, we would be related to Pres. Millard Fillmore, through Joshua's brother Abiather (see The American Genealogist, 63:46, 1988).
http://freepages.genealogy.rootsweb.ancestry.com/~cetowne/To...